OpenRaiser/Intern-Atlas huggingface dataset:
Tensor Network-Constrained Kernel Machines as Gaussian Processes
Venue: arXiv cs.LG 2024
Year: 2024

Tensor Networks (TNs) have recently been used to speed up kernel machines by constraining the model weights, yielding exponential computational and storage savings. In this paper we prove that the outputs of Canonical Polyadic Decomposition (CPD) and Tensor Train (TT)-constrained kernel machines recover a Gaussian Process (GP), which we fully characterize, when placing i.i.d. priors over their parameters. We analyze the convergence of both CPD and TT-constrained models, and show how TT yields models exhibiting more GP behavior compared to CPD, for the same number of model parameters. We empirically observe this behavior in two numerical experiments where we respectively analyze the convergence to the GP and the performance at prediction. We thereby establish a connection between TN-constrained kernel machines and GPs.
LLMs as Academic Reading Companions: Extending HCI Through Synthetic Personae
Venue: arXiv cs.HC 2024
Year: 2024

This position paper argues that large language models (LLMs) constitute promising yet underutilized academic reading companions capable of enhancing learning. We detail an exploratory study examining Claude from Anthropic, an LLM-based interactive assistant that helps students comprehend complex qualitative literature content. The study compares quantitative survey data and qualitative interviews assessing outcomes between a control group and an experimental group leveraging Claude over a semester across two graduate courses. Initial findings demonstrate tangible improvements in reading comprehension and engagement among participants using the AI agent versus unsupported independent study. However, there is potential for overreliance and ethical considerations that warrant continued investigation. By documenting an early integration of an LLM reading companion into an educational context, this work contributes pragmatic insights to guide development of synthetic personae supporting learning. Broader impacts compel policy and industry actions to uphold responsible design in order to maximize benefits of AI integration while prioritizing student wellbeing.
CDIMC-net: Cognitive Deep Incomplete Multi-view Clustering Network
Venue: arXiv cs.CV 2024
Year: 2024

In recent years, incomplete multi-view clustering, which studies the challenging multi-view clustering problem on missing views, has received growing research interests. Although a series of methods have been proposed to address this issue, the following problems still exist: 1) Almost all of the existing methods are based on shallow models, which is difficult to obtain discriminative common representations. 2) These methods are generally sensitive to noise or outliers since the negative samples are treated equally as the important samples. In this paper, we propose a novel incomplete multi-view clustering network, called Cognitive Deep Incomplete Multi-view Clustering Network (CDIMC-net), to address these issues. Specifically, it captures the high-level features and local structure of each view by incorporating the view-specific deep encoders and graph embedding strategy into a framework. Moreover, based on the human cognition, i.e., learning from easy to hard, it introduces a self-paced strategy to select the most confident samples for model training, which can reduce the negative influence of outliers. Experimental results on several incomplete datasets show that CDIMC-net outperforms the state-of-the-art incomplete multi-view clustering methods.
Lamarckian Inheritance Improves Robot Evolution in Dynamic Environments
Venue: arXiv cs.RO 2024
Year: 2024

This study explores the integration of Lamarckian system into evolutionary robotics (ER), comparing it with the traditional Darwinian model across various environments. By adopting Lamarckian principles, where robots inherit learned traits, alongside Darwinian learning without inheritance, we investigate adaptation in dynamic settings. Our research, conducted in six distinct environmental setups, demonstrates that Lamarckian systems outperform Darwinian ones in adaptability and efficiency, particularly in challenging conditions. Our analysis highlights the critical role of the interplay between controller \& morphological evolution and environment adaptation, with parent-offspring similarities and newborn \&survivors before and after learning providing insights into the effectiveness of trait inheritance. Our findings suggest Lamarckian principles could significantly advance autonomous system design, highlighting the potential for more adaptable and robust robotic solutions in complex, real-world applications. These theoretical insights were validated using real physical robots, bridging the gap between simulation and practical application.
Genetic Quantization-Aware Approximation for Non-Linear Operations in Transformers
Venue: arXiv cs.LG 2024
Year: 2024

Non-linear functions are prevalent in Transformers and their lightweight variants, incurring substantial and frequently underestimated hardware costs. Previous state-of-the-art works optimize these operations by piece-wise linear approximation and store the parameters in look-up tables (LUT), but most of them require unfriendly high-precision arithmetics such as FP/INT 32 and lack consideration of integer-only INT quantization. This paper proposed a genetic LUT-Approximation algorithm namely GQA-LUT that can automatically determine the parameters with quantization awareness. The results demonstrate that GQA-LUT achieves negligible degradation on the challenging semantic segmentation task for both vanilla and linear Transformer models. Besides, proposed GQA-LUT enables the employment of INT8-based LUT-Approximation that achieves an area savings of 81.3~81.7% and a power reduction of 79.3~80.2% compared to the high-precision FP/INT 32 alternatives. Code is available at https:// github.com/PingchengDong/GQA-LUT.
Metric Learning from Limited Pairwise Preference Comparisons
Venue: arXiv cs.LG 2024
Year: 2024

We study metric learning from preference comparisons under the ideal point model, in which a user prefers an item over another if it is closer to their latent ideal item. These items are embedded into $\mathbb{R}^d$ equipped with an unknown Mahalanobis distance shared across users. While recent work shows that it is possible to simultaneously recover the metric and ideal items given $\mathcal{O}(d)$ pairwise comparisons per user, in practice we often have a limited budget of $o(d)$ comparisons. We study whether the metric can still be recovered, even though it is known that learning individual ideal items is now no longer possible. We show that in general, $o(d)$ comparisons reveal no information about the metric, even with infinitely many users. However, when comparisons are made over items that exhibit low-dimensional structure, each user can contribute to learning the metric restricted to a low-dimensional subspace so that the metric can be jointly identified. We present a divide-and-conquer approach that achieves this, and provide theoretical recovery guarantees and empirical validation.
Geometric Illumination of Implicit Surfaces
Venue: arXiv cs.CG 2024
Year: 2024

Illumination of scenes is usually generated in computer graphics using polygonal meshes. In this paper, we present a geometric method using projections. Starting from an implicit polynomial equation of a surface in 3-D or a curve in 2-D, we provide a semi-algebraic representation of each part of the construction. To solve polynomial condition systems and find constrained regions, we apply algebraic computational algorithms for computing the Gr{\" o}bner basis and cylindrical algebraic decomposition. The final selection of illuminated and self-shaded components for polynomial surfaces of a degree higher than three is discussed. The text is accompanied by visualizations of illumination of surfaces up to degree eight.
EmoScan: Automatic Screening of Depression Symptoms in Romanized Sinhala Tweets
Venue: arXiv cs.CL 2024
Year: 2024

This work explores the utilization of Romanized Sinhala social media data to identify individuals at risk of depression. A machine learning-based framework is presented for the automatic screening of depression symptoms by analyzing language patterns, sentiment, and behavioural cues within a comprehensive dataset of social media posts. The research has been carried out to compare the suitability of Neural Networks over the classical machine learning techniques. The proposed Neural Network with an attention layer which is capable of handling long sequence data, attains a remarkable accuracy of 93.25% in detecting depression symptoms, surpassing current state-of-the-art methods. These findings underscore the efficacy of this approach in pinpointing individuals in need of proactive interventions and support. Mental health professionals, policymakers, and social media companies can gain valuable insights through the proposed model. Leveraging natural language processing techniques and machine learning algorithms, this work offers a promising pathway for mental health screening in the digital era. By harnessing the potential of social media data, the framework introduces a proactive method for recognizing and assisting individuals at risk of depression. In conclusion, this research contributes to the advancement of proactive interventions and support systems for mental health, thereby influencing both research and practical applications in the field.
Latency Reduction in Vehicular Sensing Applications by Dynamic 5G User Plane Function Allocation with Session Continuity
Venue: arXiv cs.NI 2024
Year: 2024

Vehicle automation is driving the integration of advanced sensors and new applications that demand high-quality information, such as collaborative sensing for enhanced situational awareness. In this work, we considered a vehicular sensing scenario supported by 5G communications, in which vehicle sensor data need to be sent to edge computing resources with stringent latency constraints. To ensure low latency with the resources available, we propose an optimization framework that deploys User Plane Functions (UPFs) dynamically at the edge to minimize the number of network hops between the vehicles and them. The proposed framework relies on a practical Software-Defined-Networking (SDN)-based mechanism that allows seamless re-assignment of vehicles to UPFs while maintaining session and service continuity. We propose and evaluate different UPF allocation algorithms that reduce communications latency compared to static, random, and centralized deployment baselines. Our results demonstrated that the dynamic allocation of UPFs can support latency-critical applications that would be unfeasible otherwise.
Quarantining Malicious IoT Devices in Intelligent Sliced Mobile Networks
Venue: arXiv cs.NI 2024
Year: 2024

The unstoppable adoption of the Internet of Things (IoT) is driven by the deployment of new services that require continuous capture of information from huge populations of sensors, or actuating over a myriad of "smart" objects. Accordingly, next generation networks are being designed to support such massive numbers of devices and connections. For example, the 3rd Generation Partnership Project (3GPP) is designing the different 5G releases specifically with IoT in mind. Nevertheless, from a security perspective this scenario is a potential nightmare: the attack surface becomes wider and many IoT nodes do not have enough resources to support advanced security protocols. In fact, security is rarely a priority in their design. Thus, including network-level mechanisms for preventing attacks from malware-infected IoT devices is mandatory to avert further damage. In this paper, we propose a novel Software-Defined Networking (SDN)-based architecture to identify suspicious nodes in 4G or 5G networks and redirect their traffic to a secondary network slice where traffic is analyzed in depth before allowing it reaching its destination. The architecture can be easily integrated in any existing deployment due to its interoperability. By following this approach, we can detect potential threats at an early stage and limit the damage by Distributed Denial of Service (DDoS) attacks originated in IoT devices.
JIST: Joint Image and Sequence Training for Sequential Visual Place Recognition
Venue: arXiv cs.CV 2024
Year: 2024

Visual Place Recognition aims at recognizing previously visited places by relying on visual clues, and it is used in robotics applications for SLAM and localization. Since typically a mobile robot has access to a continuous stream of frames, this task is naturally cast as a sequence-to-sequence localization problem. Nevertheless, obtaining sequences of labelled data is much more expensive than collecting isolated images, which can be done in an automated way with little supervision. As a mitigation to this problem, we propose a novel Joint Image and Sequence Training protocol (JIST) that leverages large uncurated sets of images through a multi-task learning framework. With JIST we also introduce SeqGeM, an aggregation layer that revisits the popular GeM pooling to produce a single robust and compact embedding from a sequence of single-frame embeddings. We show that our model is able to outperform previous state of the art while being faster, using 8 times smaller descriptors, having a lighter architecture and allowing to process sequences of various lengths. Code is available at https://github.com/ga1i13o/JIST
Target Span Detection for Implicit Harmful Content
Venue: arXiv cs.CL 2024
Year: 2024

Identifying the targets of hate speech is a crucial step in grasping the nature of such speech and, ultimately, in improving the detection of offensive posts on online forums. Much harmful content on online platforms uses implicit language especially when targeting vulnerable and protected groups such as using stereotypical characteristics instead of explicit target names, making it harder to detect and mitigate the language. In this study, we focus on identifying implied targets of hate speech, essential for recognizing subtler hate speech and enhancing the detection of harmful content on digital platforms. We define a new task aimed at identifying the targets even when they are not explicitly stated. To address that task, we collect and annotate target spans in three prominent implicit hate speech datasets: SBIC, DynaHate, and IHC. We call the resulting merged collection Implicit-Target-Span. The collection is achieved using an innovative pooling method with matching scores based on human annotations and Large Language Models (LLMs). Our experiments indicate that Implicit-Target-Span provides a challenging test bed for target span detection methods.
Jamba: A Hybrid Transformer-Mamba Language Model
Venue: arXiv cs.CL 2024
Year: 2024

We present Jamba, a new base large language model based on a novel hybrid Transformer-Mamba mixture-of-experts (MoE) architecture. Specifically, Jamba interleaves blocks of Transformer and Mamba layers, enjoying the benefits of both model families. MoE is added in some of these layers to increase model capacity while keeping active parameter usage manageable. This flexible architecture allows resource- and objective-specific configurations. In the particular configuration we have implemented, we end up with a powerful model that fits in a single 80GB GPU. Built at large scale, Jamba provides high throughput and small memory footprint compared to vanilla Transformers, and at the same time state-of-the-art performance on standard language model benchmarks and long-context evaluations. Remarkably, the model presents strong results for up to 256K tokens context length. We study various architectural decisions, such as how to combine Transformer and Mamba layers, and how to mix experts, and show that some of them are crucial in large scale modeling. We also describe several interesting properties of these architectures which the training and evaluation of Jamba have revealed, and plan to release checkpoints from various ablation runs, to encourage further exploration of this novel architecture. We make the weights of our implementation of Jamba publicly available under a permissive license.
Towards a Robust Retrieval-Based Summarization System
Venue: arXiv cs.CL 2024
Year: 2024

This paper describes an investigation of the robustness of large language models (LLMs) for retrieval augmented generation (RAG)-based summarization tasks. While LLMs provide summarization capabilities, their performance in complex, real-world scenarios remains under-explored. Our first contribution is LogicSumm, an innovative evaluation framework incorporating realistic scenarios to assess LLM robustness during RAG-based summarization. Based on limitations identified by LogiSumm, we then developed SummRAG, a comprehensive system to create training dialogues and fine-tune a model to enhance robustness within LogicSumm's scenarios. SummRAG is an example of our goal of defining structured methods to test the capabilities of an LLM, rather than addressing issues in a one-off fashion. Experimental results confirm the power of SummRAG, showcasing improved logical coherence and summarization quality. Data, corresponding model weights, and Python code are available online.
Diff-Reg v1: Diffusion Matching Model for Registration Problem
Venue: arXiv cs.CV 2024
Year: 2024

Establishing reliable correspondences is essential for registration tasks such as 3D and 2D3D registration. Existing methods commonly leverage geometric or semantic point features to generate potential correspondences. However, these features may face challenges such as large deformation, scale inconsistency, and ambiguous matching problems (e.g., symmetry). Additionally, many previous methods, which rely on single-pass prediction, may struggle with local minima in complex scenarios. To mitigate these challenges, we introduce a diffusion matching model for robust correspondence construction. Our approach treats correspondence estimation as a denoising diffusion process within the doubly stochastic matrix space, which gradually denoises (refines) a doubly stochastic matching matrix to the ground-truth one for high-quality correspondence estimation. It involves a forward diffusion process that gradually introduces Gaussian noise into the ground truth matching matrix and a reverse denoising process that iteratively refines the noisy matching matrix. In particular, the feature extraction from the backbone occurs only once during the inference phase. Our lightweight denoising module utilizes the same feature at each reverse sampling step. Evaluation of our method on both 3D and 2D3D registration tasks confirms its effectiveness. The code is available at https://github.com/wuqianliang/Diff-Reg.
FaiRTT: An Empirical Approach for Enhanced RTT Fairness and Bottleneck Throughput in BBR
Venue: arXiv cs.NI 2024
Year: 2024

In next-generation networks, achieving Round-trip Time (RTT) fairness is essential for ensuring fair bandwidth distribution among diverse flow types, enhancing overall network utilization. The TCP congestion control algorithm -- BBR, was proposed by Google to dynamically adjust sending rates in response to changing network conditions. While BBRv2 was implemented to overcome the unfairness limitation of BBRv1, it still faces intra-protocol fairness challenges in balancing the demands of high-bandwidth, long-RTT elephant flows and more frequent short-RTT mice flows. These issues lead to throughput imbalances and queue buildup, resulting in elephant flow dominance and mice flow starvation. In this paper, we first investigate the limitations of Google's BBR algorithm, specifically in the context of intra-protocol RTT fairness in beyond 5G (B5G) networks. While existing works address this limitation by adjusting the pacing rate, it eventually leads to low throughput. We hence develop the FaiRTT algorithm to resolve the problem by dynamically estimating the Bandwidth Delay Product (BDP) sending rate based on RTT measurements, focusing on equitable bandwidth allocation. By modeling the Inf light dependency on the BDP, bottleneck bandwidth, and packet departure time after every ACK, we can resolve the intra-protocol fairness while not compromising the throughput on the bottleneck link. Through extensive simulations on NS-3 and comprehensive performance evaluations, FaiRTT is shown to significantly improve the fairness index and network throughput, significantly outperforming BBRv2, for diverse flow types. FaiRTT achieves an average throughput ratio of 1.08 between elephant and mice flows, an average fairness index of 0.98, and an average utilization of the bottleneck link of 98.78%.
MindArm: Mechanized Intelligent Non-Invasive Neuro-Driven Prosthetic Arm System
Venue: arXiv cs.AI 2024
Year: 2024

Currently, individuals with arm mobility impairments (referred to as "patients") face limited technological solutions due to two key challenges: (1) non-invasive prosthetic devices are often prohibitively expensive and costly to maintain, and (2) invasive solutions require high-risk, costly brain surgery, which can pose a health risk. Therefore, current technological solutions are not accessible for all patients with different financial backgrounds. Toward this, we propose a low-cost technological solution called MindArm, an affordable, non-invasive neuro-driven prosthetic arm system. MindArm employs a deep neural network (DNN) to translate brain signals, captured by low-cost surface electroencephalogram (EEG) electrodes, into prosthetic arm movements. Utilizing an Open Brain Computer Interface and UDP networking for signal processing, the system seamlessly controls arm motion. In the compute module, we run a trained DNN model to interpret filtered micro-voltage brain signals, and then translate them into a prosthetic arm action via serial communication seamlessly. Experimental results from a fully functional prototype show high accuracy across three actions, with 91% for idle/stationary, 85% for handshake, and 84% for cup pickup. The system costs approximately $500-550, including $400 for the EEG headset and $100-150 for motors, 3D printing, and assembly, offering an affordable alternative for mind-controlled prosthetic devices.
EnCoMP: Enhanced Covert Maneuver Planning with Adaptive Threat-Aware Visibility Estimation using Offline Reinforcement Learning
Venue: arXiv cs.RO 2024
Year: 2024

Autonomous robots operating in complex environments face the critical challenge of identifying and utilizing environmental cover for covert navigation to minimize exposure to potential threats. We propose EnCoMP, an enhanced navigation framework that integrates offline reinforcement learning and our novel Adaptive Threat-Aware Visibility Estimation (ATAVE) algorithm to enable robots to navigate covertly and efficiently in diverse outdoor settings. ATAVE is a dynamic probabilistic threat modeling technique that we designed to continuously assess and mitigate potential threats in real-time, enhancing the robot's ability to navigate covertly by adapting to evolving environmental and threat conditions. Moreover, our approach generates high-fidelity multi-map representations, including cover maps, potential threat maps, height maps, and goal maps from LiDAR point clouds, providing a comprehensive understanding of the environment. These multi-maps offer detailed environmental insights, helping in strategic navigation decisions. The goal map encodes the relative distance and direction to the target location, guiding the robot's navigation. We train a Conservative Q-Learning (CQL) model on a large-scale dataset collected from real-world environments, learning a robust policy that maximizes cover utilization, minimizes threat exposure, and maintains efficient navigation. We demonstrate our method's capabilities on a physical Jackal robot, showing extensive experiments across diverse terrains. These experiments demonstrate EnCoMP's superior performance compared to state-of-the-art methods, achieving a 95% success rate, 85% cover utilization, and reducing threat exposure to 10.5%, while significantly outperforming baselines in navigation efficiency and robustness.